Automatic mushroom harvesting equipment and operation method thereof

Abstract

The invention discloses automatic mushroom harvesting equipment and an operation method thereof, and belongs to the field of agricultural machinery automation. The equipment is composed of a movable harvesting bin, a rack, a square bin, a shiitake mushroom culture frame, a conveying device, a shiitake mushroom picking device, a shiitake mushroom collecting device, a control cabinet and a driving device. The conveying device adopts a joint chain and a conveying chain which are butted up and down to form a closed loop, so that the mushroom sticks can be automatically transferred from the square bin to a harvesting point position and returned after being picked; the mushroom picking device is identified and positioned by a depth camera, and double parallel mechanical arms are arranged in a V shape to cooperatively pick, so that 270-degree full-coverage, low-loss and high-efficiency harvesting of mushroom sticks is realized; the shiitake mushroom collecting device automatically unloads baskets through a linear sliding table. During operation, the movable harvesting bin walks to a designated mushroom house, and closed-loop circulation of chain butt joint, mushroom stick conveying, visual guidance picking, automatic basket-full moving-out and mushroom stick returning is completed. The device is compact in structure, high in picking efficiency, low in missing picking rate, small in interference to the cultivation environment and suitable for automatic harvesting of factory-like shelf shiitake mushrooms.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery automation technology, specifically to an automatic mushroom harvesting equipment and its operating method. Background Technology

[0002] Shiitake mushrooms are a widely cultivated edible fungus. In factory-style tiered cultivation, shiitake mushrooms grow on multi-layered cultivation racks. Traditional shiitake mushroom harvesting relies on manual labor, which suffers from high labor intensity, low efficiency, and the quality of harvesting being greatly affected by human factors. Existing shiitake mushroom harvesting equipment often suffers from drawbacks such as complex structure, poor adaptability to shelf cultivation spaces, and inconvenience in post-harvest collection and transportation, making it difficult to achieve efficient and automated cyclical harvesting operations. For example, an existing patent for a shiitake mushroom harvesting device (201720807904.4) provides a clamping and harvesting device for mushroom logs, using crescent-shaped blades to harvest the mushroom logs that are conveyed and fixed by the clamping device, thus achieving mechanized shiitake mushroom harvesting. This device reduces labor intensity and improves harvesting efficiency. However, due to the cumbersome harvesting process, the harvesting speed is slow and cannot achieve high harvesting efficiency. Furthermore, the crescent-shaped blades used for harvesting can damage the harvested shiitake mushrooms and mushroom logs, and the device does not address the post-harvest mushroom log transportation process, making it difficult to achieve integrated harvesting and transportation of shiitake mushrooms. Summary of the Invention

[0003] This invention addresses the shortcomings of existing technologies by providing an automated mushroom harvesting equipment and its operating method, which integrates mushroom harvesting and transportation, and features high harvesting efficiency, accurate identification, and complete recovery of the mushroom logs.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] An automatic mushroom harvesting device is characterized by comprising a mobile harvesting bin, a frame, a square bin, a mushroom cultivation rack, a transport device, a mushroom picking device, a mushroom collecting device, a control cabinet, and a drive device; the bottom of the mobile harvesting bin is fixedly connected to the frame; the mushroom picking device and the mushroom collecting device are respectively fixedly installed above the bottom of the harvesting bin.

[0006] The technical problem to be solved by the present invention can be further achieved through the following steps: the transport device includes a connector chain, a conveyor chain, a sprocket, a mushroom stick buckle, and a tensioning wheel; the mushroom stick buckle is provided with an insertion end that cooperates with the mushroom stick; the conveyor chain is provided with a circular hole that cooperates with the mushroom stick buckle; the mushroom stick buckle is rotatably connected to the circular hole of the conveyor chain; the conveyor chain is mounted on the sprocket and meshes with the sprocket; the ends of the connector chain and the conveyor chain can be connected to each other through the buckle.

[0007] The technical problem to be solved by the present invention can be further achieved through the following steps: the connector chain and the conveyor chain are connected vertically to form a closed-loop conveying path; the connector chain is set on the sprocket and meshes with the sprocket; a tensioning wheel is provided at the rear of the connector chain.

[0008] The technical problem to be solved by the present invention can be further achieved through the following steps: the shiitake mushroom harvesting device includes a harvesting support, a parallel robotic arm, a harvesting gripper, and a depth camera; one end of the parallel robotic arm is fixedly connected to the rear end of the harvesting gripper; the other end of the parallel robotic arm is fixedly installed in the middle of the harvesting support; the depth camera is fixedly installed on the harvesting support; the harvesting support is a gantry structure; and the harvesting gripper is a flexible gripper.

[0009] The technical problem to be solved by the present invention can be further achieved through the following steps: the shiitake mushroom collecting device includes a harvesting basket, a slider, and a linear guide rail. The linear guide rail is fixedly installed at the bottom of the mobile harvesting bin; the slider is slidably connected to the linear guide rail; the harvesting basket is fixedly installed on the slider and can move along the guide rail to realize the collection and transfer of shiitake mushrooms.

[0010] The technical problem to be solved by the present invention can be further achieved through the following steps, wherein the control cabinet is fixedly installed on one side of the harvesting support.

[0011] The technical problem to be solved by the present invention can be further achieved through the following steps: the driving device includes a drive sprocket, a drive shaft, a bearing housing, a motor, and a torque arm; the drive sprocket is symmetrically fixedly installed on both sides of the drive shaft and rotates with the drive shaft; the bearing housing is symmetrically fixedly installed on both sides of the frame; the torque arm is fixedly installed on one side of the frame; the motor is fixedly installed on the torque arm and is connected to the drive shaft for transmission.

[0012] The technical problem to be solved by the present invention can be further achieved through the following steps: the bottom of the mobile harvesting bin is equipped with wheels to realize the overall movement of the equipment and the positioning of the work station.

[0013] The present invention also provides a method for operating an automatic mushroom harvesting device, the method using the automatic mushroom harvesting device described in any of the above claims, characterized in that it includes at least the following steps:

[0014] (1) Moving and positioning: The walking wheels 10 at the bottom of the harvesting bin 1 drive the entire equipment to move along the preset path until it reaches the working position in front of the target bin 3, thus completing the initial positioning of the harvesting equipment.

[0015] (2) Chain docking and position adjustment: After the harvesting equipment is in place, the joint chain 51 is docked with the conveyor chain 52 set on the mushroom cultivation rack 4 inside the square warehouse 3 to form a complete closed-loop conveying path. The chain tension is adjusted by the tension wheel 55 to ensure reliable docking and smooth transmission. Then, the position of the harvesting chamber 1 is finely adjusted to fit tightly with the opening of the square warehouse 3, creating sealed and centered working conditions for the smooth transfer of the mushroom sticks;

[0016] (3) Automatic transfer of mushroom sticks: The motor 94 in the drive device 9 starts and drives the drive sprocket 91 to rotate through the drive shaft 92, thereby driving the closed-loop conveyor chain 52 to run. The mushroom sticks are reliably fixed on the conveyor chain 52 by the mushroom stick buckles 54. With the movement of the chain, they are smoothly pulled out from inside the square bin 3 and enter the mobile harvesting bin 1. Finally, they are transported to the preset harvesting point on the frame 2 to wait for the harvesting operation.

[0017] (4) Visual Recognition and Precise Harvesting of Shiitake Mushrooms: A depth camera 64 captures images of the mushroom logs located at the harvesting point. The image processing system identifies the spatial location, morphological characteristics, and maturity information of the shiitake mushrooms in real time, generating harvesting coordinates. A parallel robotic arm 62, guided by visual signals, drives the harvesting gripper 63 at its end to precisely move to the target shiitake mushroom and perform the grasping action. The harvested shiitake mushrooms are gently placed in the designated harvesting basket 71 to avoid damage. After all mature shiitake mushrooms on the log have been harvested, the log is automatically returned to its original cultivation position in the container 3 via the conveyor chain 52.

[0018] (5) Temporary storage and transfer of shiitake mushrooms: The harvested shiitake mushrooms are temporarily stored in the harvesting basket 71. The system monitors the status inside the basket in real time according to the amount of shiitake mushrooms in the basket 71, and can dynamically adjust the harvesting rhythm of the robotic arm. When the harvesting basket 71 reaches the set capacity, the linear guide rail 73 is controlled to operate, and the slider 72 drives the fully loaded harvesting basket 71 to move it to a designated area outside the harvesting warehouse 1, so as to facilitate centralized unloading and subsequent processing, and realize the continuity and automation of the harvesting process.

[0019] (6) Cyclic Operation and Control: The above steps are executed sequentially and cyclically throughout the entire shiitake mushroom cultivation area. The system automatically schedules the harvesting equipment to connect to each of the square bins 3 in turn until all mature shiitake mushrooms on all the mushroom logs have been harvested. After harvesting, all mushroom logs accurately return to their original positions on the shiitake mushroom cultivation racks 4, ensuring the integrity of the cultivation environment. The entire harvesting process is fully automated under the centralized control of the control cabinet 8, effectively improving operational efficiency and harvesting quality.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] (1) The depth camera can accurately identify the location and maturity of the shiitake mushrooms, ensuring that the quality of the harvested shiitake mushrooms is high and reducing losses caused by misharvesting or overripe mushrooms. The present invention adopts closed-loop chain docking and circulating transportation to realize the automatic flow of mushroom sticks between the cultivation chamber and the harvesting equipment, eliminating the need for manual handling of mushroom sticks and improving the continuity of operations.

[0022] (2) The dual parallel robotic arms adopt a V-shaped arrangement structure. The two arms work together to achieve full coverage of the mushroom log within a 270-degree range, ensuring that the mushrooms at different positions around a single mushroom log can be accurately picked, greatly reducing missed picking and improving the integrity of mushroom harvesting from a single mushroom log.

[0023] (3) The removal-type harvesting method is adopted so that the harvesting operation is mainly outside the square warehouse, avoiding excessive penetration of mechanical arms and other components into the square warehouse. This significantly reduces the interference of the high temperature and high humidity growth environment inside the square warehouse during the harvesting process, which is conducive to maintaining the stability of the shiitake mushroom growth environment inside the square warehouse and improving the compatibility between the cultivation environment and the harvesting operation. The mobile harvesting warehouse can be flexibly transferred to different mushroom houses and has strong adaptability. Attached Figure Description

[0024] Figure 1 A schematic diagram of an automated mushroom harvesting system;

[0025] Figure 2 A front view schematic diagram of an automatic mushroom harvesting equipment (the moving harvesting bin is omitted);

[0026] Figure 3 A left-side schematic diagram of an automatic mushroom harvesting device (the moving harvesting bin is omitted);

[0027] Figure 4 This is a top view schematic diagram of an automatic mushroom harvesting equipment (harvesting supports and mobile harvesting bins are omitted).

[0028] Figure 5 This is a schematic diagram of the chain connection.

[0029] Figure 6 A schematic diagram of a mushroom collection device;

[0030] Figure 7 This is a schematic diagram showing the connection between the mobile harvesting warehouse and the square warehouse.

[0031] In the diagram: 1. Mobile harvesting bin; 2. Frame; 3. Square bin; 4. Shiitake mushroom cultivation rack; 5. Transport device; 51. Connector chain; 52. Conveyor chain; 53. Sprocket; 54. Mushroom stick clamp; 55. Tensioning wheel; 6. Shiitake mushroom picking device; 61. Harvesting support; 62. Parallel robotic arm; 63. Harvesting gripper; 64. Depth camera; 7. Shiitake mushroom collecting device; 71. Harvesting basket; 72. Slider; 73. Linear guide rail; 8. Control cabinet; 9. Drive device; 91. Drive sprocket; 92. Drive shaft; 93. Bearing seat; 94. Motor; 95. Torque arm; 10. Traveling wheel. Detailed Implementation

[0032] The technical solution of the present invention will be clearly and completely described below with reference to specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0033] Example 1, please refer to Figure 1-7 An automatic mushroom harvesting device includes a mobile harvesting bin 1, a frame 2, a square bin 3, a mushroom cultivation rack 4, a transport device 5, a mushroom picking device 6, a mushroom collecting device 7, a control cabinet 8, and a drive device 9; the bottom of the mobile harvesting bin 1 is fixedly connected to the frame 2; the mushroom picking device 6 and the mushroom collecting device 8 are respectively fixedly installed above the bottom of the harvesting bin 1.

[0034] The transport device 5 includes a connector chain 51, a conveyor chain 52, a sprocket 53, a mushroom stick buckle 54, and a tensioning wheel 55. The mushroom stick buckle 54 is provided with an insertion end that cooperates with the mushroom stick, and the conveyor chain (52) is provided with a circular hole that cooperates with the mushroom stick buckle (54). The mushroom stick buckle (54) is rotatably connected to the circular hole of the conveyor chain (52). The conveyor chain (52) is mounted on the sprocket (53) and meshes with the sprocket (53) for movement. The ends of the connector chain (51) and the conveyor chain (52) can be connected to each other through the buckle.

[0035] The connector chain (51) and the conveyor chain (52) are connected vertically to form a closed-loop conveying path; the connector chain (51) is set on the sprocket (53) and meshes with the sprocket (53) to move; a tension wheel (55) is provided at the rear of the connector chain (51).

[0036] The mushroom harvesting device 6 includes a harvesting support 61, a parallel robotic arm 62, a harvesting gripper 63, and a depth camera 64; one end of the parallel robotic arm (62) is fixedly connected to the rear end of the harvesting gripper (63); the other end of the parallel robotic arm (62) is fixedly installed in the middle of the harvesting support (61); the depth camera (64) is fixedly installed on the harvesting support (61); the harvesting support (61) is a gantry structure; the harvesting gripper (63) is a flexible gripper.

[0037] The mushroom collecting device 7 includes a harvesting basket 71, a slider 72, and a linear guide rail 73. The linear guide rail (73) is fixedly installed at the bottom of the mobile harvesting bin (1); the slider (72) is slidably connected to the linear guide rail (73); the harvesting basket (71) is fixedly installed on the slider (72) and can move along the guide rail to realize the collection and transfer of mushrooms.

[0038] The control cabinet (8) is fixedly installed on one side of the harvesting support (61) for centralized control of various electrical components and actuators.

[0039] The drive unit 9 includes a drive sprocket 91, a drive shaft 92, a bearing housing 93, a motor 94, and a torque arm 95. The drive sprocket (91) is symmetrically fixed on both sides of the drive shaft (92) and rotates with the drive shaft. The bearing housing (93) is symmetrically fixed on both sides of the frame (2). The torque arm (95) is fixed on one side of the frame (2). The motor (94) is fixed on the torque arm (95) and is connected to the drive shaft (92) for transmission.

[0040] The mobile harvesting bin 1 is equipped with wheels 10 at the bottom to enable overall movement of the equipment and positioning of the workstation.

[0041] The working principle of the automatic mushroom harvesting equipment of this invention is as follows:

[0042] (1) Moving and positioning: The walking wheels 10 at the bottom of the harvesting bin 1 drive the entire equipment to move along the preset path until it reaches the working position in front of the target bin 3, thus completing the initial positioning of the harvesting equipment.

[0043] (2) Chain docking and position adjustment: After the harvesting equipment is in place, the joint chain 51 is docked with the conveyor chain 52 set on the shiitake mushroom cultivation rack 4 inside the square warehouse 3 to form a complete closed-loop conveying path. The chain tension is adjusted by the tension wheel 55 to ensure reliable docking and smooth transmission. Then, the position of the harvesting chamber 1 is finely adjusted to fit tightly with the opening of the square warehouse 3, creating sealed and centered operating conditions for the smooth transfer of the mushroom sticks.

[0044] (3) Automatic transfer of mushroom logs: The motor 94 in the drive device 9 starts and drives the drive sprocket 91 to rotate through the drive shaft 92, which in turn drives the closed-loop conveyor chain 52 to operate. The mushroom logs are reliably fixed on the conveyor chain 52 by the mushroom log clips 54. With the movement of the chain, they are smoothly pulled out from inside the square bin 3 and enter the mobile harvesting bin 1. Finally, they are transported to the preset harvesting point on the frame 2 to wait for the harvesting operation.

[0045] (4) Visual Recognition and Precise Harvesting of Shiitake Mushrooms: A depth camera 64 captures images of the mushroom logs located at the harvesting point. The image processing system identifies the spatial location, morphological characteristics, and maturity information of the shiitake mushrooms in real time, generating harvesting coordinates. A parallel robotic arm 62, guided by visual signals, drives its end-effector harvesting gripper 63 to precisely move to the target shiitake mushroom and perform the grasping action. The harvested shiitake mushrooms are gently placed in the designated harvesting basket 71 to avoid damage. After all mature shiitake mushrooms on the log have been harvested, the log is automatically returned to its original cultivation position within the container 3 via the conveyor chain 52.

[0046] (5) Temporary storage and transfer of shiitake mushrooms: The harvested shiitake mushrooms are temporarily stored in the harvesting basket 71. The system monitors the status inside the basket in real time according to the amount of shiitake mushrooms in the basket 71, and can dynamically adjust the harvesting rhythm of the robotic arm. When the harvesting basket 71 reaches the set capacity, the linear guide rail 73 is controlled to operate, and the slider 72 drives the fully loaded harvesting basket 71 to move it to a designated area outside the harvesting bin 1, which is convenient for centralized unloading and subsequent processing, so as to realize the continuity and automation of the harvesting process.

[0047] (6) Cyclic Operation and Control: The above steps are executed sequentially and cyclically throughout the entire shiitake mushroom cultivation area. The system automatically schedules the harvesting equipment to connect to each of the square bins 3 in turn until all mature shiitake mushrooms on all the mushroom logs have been harvested. After harvesting, all mushroom logs accurately return to their original positions on the shiitake mushroom cultivation racks 4, ensuring the integrity of the cultivation environment. The entire harvesting process is fully automated under the centralized control of the control cabinet 8, effectively improving operational efficiency and harvesting quality.

[0048] Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

Claims

1. A lentinus edodes automatic harvesting apparatus, characterized by, The device comprises a mobile harvesting bin (1), a rack (2), a square bin (3), a shiitake mushroom cultivation rack (4), a transportation device (5), a shiitake mushroom picking device (6), a shiitake mushroom collecting device (7), a control cabinet (8), and a driving device (9). The bottom of the mobile harvesting bin (1) is fixedly connected with the rack (2). The shiitake mushroom picking device (6) and the shiitake mushroom collecting device (7) are respectively fixedly installed above the bottom of the harvesting bin (1).

2. The automatic shiitake mushroom harvesting apparatus according to claim 1, wherein The transportation device (5) comprises a joint chain (51), a conveying chain (52), a chain wheel (53), a fungus stick buckle (54), and a tension pulley (55). The fungus stick buckle (54) is provided with an insertion end matched with the fungus stick. The conveying chain (52) is provided with a circular hole matched with the fungus stick buckle (54). The fungus stick buckle (54) is rotationally connected with the circular hole of the conveying chain (52). The conveying chain (52) is arranged on the chain wheel (53) and moves in meshing with the chain wheel (53). The end of the joint chain (51) and the conveying chain (52) can be butted against each other through buckling.

3. The automatic shiitake mushroom harvesting apparatus according to claim 2, wherein The joint chain (51) and the conveying chain (52) are butted against each other to form a closed-loop conveying path. The joint chain (51) is arranged on the chain wheel (53) and moves in meshing with the chain wheel (53). The rear of the joint chain (51) is provided with the tension pulley (55).

4. The automatic shiitake mushroom harvesting apparatus according to claim 3, wherein The shiitake mushroom picking device (6) comprises a harvesting support (61), a parallel mechanical arm (62), a picking clamp (63), and a depth camera (64). One end of the parallel mechanical arm (62) is fixedly connected with the rear end of the picking clamp (63). The other end of the parallel mechanical arm (62) is fixedly installed in the middle of the harvesting support (61). The depth camera (64) is fixedly installed on the harvesting support (61). The harvesting support (61) is of a portal frame structure. The picking clamp (63) is a flexible clamp.

5. The automatic shiitake mushroom harvesting apparatus according to claim 1, wherein The shiitake mushroom collecting device (7) comprises a harvesting basket (71), a sliding block (72), and a linear guide rail (73). The linear guide rail (73) is fixedly installed on the bottom of the mobile harvesting bin (1). The sliding block (72) is slidingly connected with the linear guide rail (73). The harvesting basket (71) is fixedly installed on the sliding block (72) and can move along the guide rail to realize the collection and transfer of shiitake mushrooms.

6. The automatic shiitake mushroom harvesting apparatus according to claim 1, wherein The control cabinet (8) is fixedly installed on one side of the harvesting support (61).

7. The automatic shiitake mushroom harvesting apparatus according to claim 1, wherein The driving device (9) comprises a driving chain wheel (91), a driving shaft (92), a bearing seat (93), a motor (94), and a torsion arm (95). The driving chain wheels (91) are symmetrically fixedly installed on both sides of the driving shaft (92) and rotate with the driving shaft. The bearing seats (93) are symmetrically fixedly installed on both sides of the rack (2). The torsion arm (95) is fixedly installed on one side of the rack (2). The motor (94) is fixedly installed on the torsion arm (95) and is in transmission connection with the driving shaft (92).

8. The automatic Lentinus edodes harvesting equipment according to claim 1, characterized in that: The bottom of the mobile harvesting bin (1) is provided with a walking wheel (10) to realize the overall movement and station positioning of the equipment.

9. A method for operating an automatic Lentinula edodes harvesting apparatus, the method using the automatic Lentinula edodes harvesting apparatus according to any one of claims 1 to 8, characterized in that, The device comprises at least the following steps: (1) Mobile device: the traveling wheels (10) below the harvesting bin (1) drive the entire equipment to move to the working position in front of the target square bin 3; (2) Docking adjustment: the joint chain (51) is docked with the conveying chain (52) on the shiitake cultivation rack (4) in the square bin (3) to form a closed loop, adjusting the position of the harvesting bin (1) to closely cooperate with the square bin (3); (3) Transfer of the mushroom stick: the conveying chain (52) transfers the mushroom stick to the harvesting point on the rack (2), preparing for the picking operation; (4) Shiitake picking: the picking gripper (63) of the parallel mechanical arm (62) moves to the pickable shiitake under the guidance of the vision system, grabs the shiitake and places it in the designated harvesting basket (71), after the picking is completed, the mushroom stick returns to the square bin (3) following the conveying chain (52); (5) Collection and transmission: the picked shiitakes are temporarily stored in the harvesting basket (71), and the picking speed is automatically adjusted or the linear guide rail (73) is started to move the harvesting basket (71) outside the harvesting bin (1) for unloading according to the filling state of the harvesting basket (71); (6) Circulating execution: the above steps will be executed in the entire planting area until all shiitakes are picked.

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